diff --git a/custom-example/res/CustomFlyView.qml b/custom-example/res/CustomFlyView.qml
index 3ec772414e9baca2cfb0a2ecc73babf3dcb86b22..90760fa58bf758fe7d0b9bf9e1ed0eb08afec139 100644
--- a/custom-example/res/CustomFlyView.qml
+++ b/custom-example/res/CustomFlyView.qml
@@ -605,12 +605,11 @@ Item {
     }
     //-------------------------------------------------------------------------
     //-- Object Avoidance
-    Rectangle {
+    Item {
         visible:                activeVehicle && activeVehicle.objectAvoidance.available && activeVehicle.objectAvoidance.enabled
         anchors.centerIn:       parent
         width:                  parent.width  * 0.5
         height:                 parent.height * 0.5
-        color:                  Qt.rgba(0,0,0,0.25)
         Repeater {
             model:              activeVehicle && activeVehicle.objectAvoidance.gridSize > 0 ? activeVehicle.objectAvoidance.gridSize : []
             Rectangle {
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
index 047b7a3cabb542bdce2613f8d4a60500a195c5aa..06224bfe3a9ca68121dcce9285e0dd316b3bff7a 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -27,7 +27,7 @@ QString SafetyComponent::name(void) const
 
 QString SafetyComponent::description(void) const
 {
-    return tr("Safety Setup is used to setup triggers for Return to Land as well as the settings for Return to Land itself.");
+    return QString();
 }
 
 QString SafetyComponent::iconResource(void) const
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index c40ace809950b026f4dc5390f79f300760e9df49..ac096ca2fda5af26d874ef8533d3bfdbe83ca20f 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -170,12 +170,11 @@ SetupPage {
                                 enabled:            _collisionPrevention
                                 Layout.minimumWidth:_editFieldWidth
                                 Layout.fillWidth:   true
-                                Component.onCompleted: {
-                                    currentIndex = _collisionPrevention ? (_collisionPrevention.value > 0 ? 1 : 0) : 0
-                                }
+                                currentIndex:       _collisionPrevention ? (_collisionPrevention.rawValue > 0 ? 1 : 0) : 0
                                 onActivated: {
                                     if(_collisionPrevention) {
                                         _collisionPrevention.value = index > 0 ? 5 : -1
+                                        console.log('Collision prevention enabled: ' + _collisionPrevention.value)
                                     }
                                 }
                             }
@@ -186,14 +185,10 @@ SetupPage {
                             }
                             QGCComboBox {
                                 model:              [qsTr("Disabled"), qsTr("Enabled")]
-                                enabled:            _objectAvoidance
+                                enabled:            _objectAvoidance && _collisionPrevention.rawValue > 0
                                 Layout.minimumWidth:_editFieldWidth
                                 Layout.fillWidth:   true
-                                Component.onCompleted: {
-                                    if(_objectAvoidance) {
-                                        currentIndex = _objectAvoidance.value === 0 ? 0 : 1
-                                    }
-                                }
+                                currentIndex:       _objectAvoidance ? (_objectAvoidance.value === 0 ? 0 : 1) : 0
                                 onActivated: {
                                     if(_objectAvoidance) {
                                         _objectAvoidance.value = index > 0 ? 1 : 0
@@ -208,25 +203,26 @@ SetupPage {
                             }
                             QGCSlider {
                                 width:              _editFieldWidth
-                                enabled:            _collisionPrevention
+                                enabled:            _collisionPrevention && _collisionPrevention.rawValue > 0
                                 Layout.minimumWidth:_editFieldWidth
                                 Layout.minimumHeight:   ScreenTools.defaultFontPixelHeight * 2
                                 Layout.fillWidth:   true
                                 Layout.fillHeight:  true
-                                maximumValue:       1
-                                minimumValue:       15
+                                maximumValue:       15
+                                minimumValue:       0
                                 stepSize:           1
                                 displayValue:       true
                                 updateValueWhileDragging:   false
                                 Layout.alignment:   Qt.AlignVCenter
-                                Component.onCompleted: {
-                                    if(_collisionPrevention && _collisionPrevention.value > 0) {
-                                        value = _collisionPrevention.value
-                                    }
-                                }
+                                //-- Looking at raw value on purpose. I don't know how to handle the
+                                //   slider range when not using metric system.
+                                value:              (_collisionPrevention && _collisionPrevention.rawValue > 0) ? _collisionPrevention.rawValue : 0
                                 onValueChanged: {
                                     if(_collisionPrevention) {
-                                        _collisionPrevention.value = value
+                                        //-- Negative means disabled
+                                        if(_collisionPrevention.rawValue >= 0) {
+                                            _collisionPrevention.rawValue = value
+                                        }
                                     }
                                 }
                             }